System of externally holding and guiding supply lines to moving implements of manipulators

ABSTRACT

To supply the implement, mostly a welding tool, of a manipulator (1), with energy, the invention, instead of running the supply lines in the known manner from a fixed point in a large, freely suspended loop directly to the tool, provides an external suspension of a line bundle (10) along the constructional assemblies of the manipulator. In accordance with the invention, this line bundle (10) is held in place and guided in tubular casings (13) which are disposed at the individual assemblies (3-5) of the manipulator (1), with inserts (19) being provided in these casings (13) for receiving and holding lines of unequal size (parallel with each other) which are adapted to the various functions of the manipulator and can quickly be exchanged.

BACKGROUND OF THE INVENTION FIELD OF THE INVENTION

This invention relates, in general, to manipulators and, in particular,to a new and useful device for positioning supply line bundles inrespect to the articulated assemblies of the manipulator.

The moving implements or tools of manipulators must be supplied withenergy, electric power, coolants, pressure fluids, etc. This supply iseffected through a plurality of lines which may take the form ofelectrical power lines, flexible tubes, pressure tube, etc.

The general problem with manipulators is how to ensure these supplieseven in instances where the tool executes whatever movements in space.Heretofore, this problem has been solved by running the supply linesfrom a fixed point in a large, freely suspended loop directly to thetool, as shown, for example, in German application disclosure No. 22 27288. This manner of supplying has the disadvantage, however, that theline loop is moved about in space along with the tool and thus exposedto considerable torsional and bending loads. Also, such a supply linecan be employed at most for robots and manipulators having a smallworking range. As soon as a manipulator is capable of swinging its armoverhead, the supply lines had to take on such dimensions that theywould continually be in danger of getting caught somewhere or even beingsqueezed off.

SUMMARY OF THE INVENTIONS

The present invention is therefore directed to a system of externalholding and guiding of supple lines to manipulator tools, which wouldguard the supply lines from damages and could follow without obstaclesany spatial movement of the tools.

In accordance with the invention, instead of being suspended freely inspace, as hitherto, relatively short sections of the supply linesbundled together are now run between holders mounted along theconstructional assemblies of the manipulator. In the inventive system,the lines may extend from the stationary base over all the movedconstructional assemblies up to the tool, but they also may extend fromanother of the assemblies, such as from the upper arm.

By providing one holder on each of the moved constructional assemblies,only relatively small loops of supply lines remain in extended positionsand are therefore less loaded, starting by their own weight. Further,the dynamic loads on the manipulator are reduced. The rotary mounting ofthe holders in the regions of the axes has the advantage that theselocations are relatively at rest as compared to the movements of theadjacent assemblies. Therefore, only the line section extending betweenthe moved and the adjacent assembly is moved along. The other linesections remain relatively immobile and follow at most a small rotarymotion of the holder. The inventive system of running lines makes nowalso possible overhead movements of the manipulator arm without the riskof crushing or otherwise damaging the supply lines. The result is asubstantial extension of the life of the supply lines, quitedisregarding the fact that they no longer represent a safety hazard.

The holders may be designed in various ways, for example as separatingstrips, etc. Particularly advantageous is the shape of a tubular casinghaving an insert which is guided therein and holds the line together.Such a holder may advantageously be employed also for running otherkinds of lines. It not only helps to preserve the supply lines guidedtherethrough, but also permits a quick exchange of the individual linesor of the entire line bundle.

This is particularly important in the operation of industrial robots ormanipulators which are employed at a growing rate in the small-scaleseries manufacture and for short-term jobs varying all the time. Such anoperation requires frequent changes of the implement and of the supplyline connected thereto. A plurality of holders is provided for runningthe supply lines, it would be bothersome to unthread the old lines andthread in the new ones. Further, different implements require adifferent number of supply lines with unequal diameters. A bundle withten lines, for example, is not an exceptional number, especially foradvancing types of welding apparatus.

The invention solves this problem by providing exchangeable holderinserts and a casing which can be opened and whose parts can bereconnected by a quick-acting clamp.

The inserts can thus remain connected to the line and exchanged alongwith them for new lines having inserts of their own.

Instead, prepared line bundles may be exchanged in the same quick manneras well. The holder inserts at the lines are preassembled.

The inserts themselves are guided in the holders positively and/ornon-positively in the direction of the line. In the circumferentialdirection, however, the guidance may be tight or loose. A looseguidance, in the case of a circular insert and holder, permits a rotarymotion of the insert in the holder about the line axis. The line bundleis thus enabled to easily follow the corresponding rotary movements ofthe manipulator wrist. A loose guidance can be adjusted by providing acorresponding play between the holder and the insert, or a specialsupport, such as through slide rings.

With a provided tool exchange and a larger number of lines, it isadvisable to leave the inserts on the line bundle and exchange thecomplete bundle together with the inserts against a new one. In such acase, inserts having a simple thrubore may satisfactorily receive thelines. The inserts are threaded on the lines subsequently and remainattached thereto.

However, in accordance with the objective of permitting a quick toolexchange, the invention provides specific shapes of inserts having theirbores, recesses, etc. accessible from the outside so that the lines canbe inserted quickly. With this design, no threading of the lines intothe inserts is needed. The inserts rather either have peripherally openbores of the kind of a retaining clip, or comprise separable or hingedparts, depending on the design. This makes it possible to quicklyexchange defective lines, for example, or to put in place in the insertsnew, additional lines, without changing anything in the other lines ofthe bundle.

The inserts themselves may vary in shape, depending on the kind of thesupply lines, and may be designed as a circular disc, an elongatedtubular body, or a disc-shaped extension with guide sleeves.

The disc-shaped insert is intended for receiving individual lines incircumferentially distributed bores in the form of retaining clipsaccessible from the periphery.

In a disc-shaped insert, the individual lines are guided as a compactbundle, thus extend closely to the neutral axis. This produces effectparticularly in bundles having a large number of lines, with the resultthat with a bending of the line bundle in any direction, the radiuses ofcurvature of all the lines remain substantially identical. Also, linesremote from the neutral axis are thereby prevented from being squeezed.

To obtain as dense a bundle of lines as possible, particularly if alarge number of individual lines is handled, the invention providesmultipart, disc-shaped holder inserts. The parts of these inserts areprovided with bores, recesses, etc. which also are accessible from theoutside, and into which the individual lines are inserted, preferablyclipped. The parts of the insert are positively engaged with each otherand secured by a circlip, a clamp, etc., so that they form a disc-shapedunit held positively in assembled state. As an alternative, thedisc-shaped insert may be designed as a single piece. Then it is made ofa resilient material, preferably a plastic, and provided with partingjoints or slits along which it can be opened to make the inside boresaccessible from the outside. For arc welding, relatively pliant supplylines are used for which tubular inserts are particularly suitable. Thelines are bundled and guided as an enclosed compact bundle of flexibletubes in these yielding tubular inserts whose guiding lengths preventsthem from sharp squeezing which would be particularly dangerous inpliant tubes. For other purposes, the inserts may be made of stiffermaterials.

The disc-shaped extension in combination with guide sleeves makes itpossible to provide individual lines in addition to a received bundle ofline or flexible tubes, with the additional lines being clipped in inperipherally accessible bores of the extension.

To ensure a quick reception of the bundle of lines or flexible tubes,the two kinds of tubular inserts are provided with a lengthwiseextending parting slit permitting to bend the insert open, or to take itapart. The tubular insert is then closed again by means of a tighteningstring etc., or by an adhesive.

The other dependent claims relate to advantageous embodiments of theinvention.

The invention is shown by way of example and diagrammatically in thedrawing in which

FIG. 1 is a side view of a manipulator and of constructional assembliesthereof, with the associated supply lines;

FIG. 2 is a longitudinal sectional view of a tubular casing forreceiving a bundle of lines;

FIG. 3 is a side view of a disc-shaped insert clamped in a tubularcasing;

FIG. 4 is a longitudinal sectional view of the insert, taken along theline IV--IV of FIG. 3;

FIG. 5 is a side view of a tubular casing provided on a resilient arm;

FIG. 6 is a side view of a multipart disc-shaped insert;

FIG. 7 is a modified embodiment corresponding to FIG. 6;

FIG. 8 is a longitudinal sectional view of the multipart insert, takenalong the line VIII--VIII of FIG. 7;

FIG. 9 is a longitudinal sectional view of a holder supporting a tubularinsert;

FIG. 10 is a sectional view of a tubular insert, taken along the lineX--X of FIG. 9;

FIG. 11 is a longitudinal sectional view of a casing supporting atubular insert, in a modified design of FIGS. 9 and 10;

FIG. 12 is a cross-sectional view of a tubular insert, taken along theline XII--XII of FIG. 11; and

FIG. 13 is a side view of a disc-shaped insert, in a modified design ofFIG. 6.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

FIG. 1 shows an embodiment of a manipulator 1 in a side view. Such amanipulator 1 is built up of different assemblies which are movablerelative to each other. In the shown embodiment, the manipulator has sixaxes and comprises a stationary base 2, a pivot 6, a swing arm 3, anupper arm 4 pivotable thereon about a horizontal axis 8, and a wrist 5which is jointed to the end of upper arm 4 in various ways. Wrist 5carries an implement or tool 39, in the present example, a welding tool.Another implement may be carried by wrist 5 instead, such as a water jetcutter, a spray gun, a wheel gripper with a nut setter, a drilling jig,etc. In the shown example, wrist 5 is rotatable about axis 9 whichextends along upper arm 4 and above an axis 35 extending perpendicularlythereto. Tool 39 is mounted for rotation relative to wrist 5, aboutanother axis 36. Depending on the kind of the tool, further mobilitiesmay be provided.

The welding tool requires a supply of power and operating means invarious forms. In the first place, supplied must be electric power, acoolant, a pressure fluid, etc. If the tool is to be moved separately,and correspondingly driven, these drives must also be supplied. If otherimplements are used instead of the welding tool, the supply of power andoperating means changes correspondingly.

In the example of FIG. 1, the energy is supplied to tool 39 through abundle of supply lines 10 which are run externally of manipulator 1.Such a bundle of lines 10 is expected to permit the different assemblies2 to 6 to execute their most various movements, and that is why linebundle 10 is guided in holders 11, and extend in loops 12 between theholders 11. Loops 12 make it possible to line bundle 10 to follow theindividual movements of the assembly.

Holders 11 are mounted on the assemblies for rotary motion, in the zoneof the axes of the manipulator. In the embodiment of FIG. 1, holders 11are mounted on the bearing brackets or other parts relatively immovable,of the pivot 6, the swing arm 3, and the wrist 5, in a manner such thatthe axis of rotation of holders 11 coincides with axes 35, 8, and 34 ofthe manipulator. Depending on the mechanical peculiarities of othermanipulators, the holders may be provided a little farther from saidaxes.

It is noted that swing arm 8 has a longitudinal axis extending from itspivot axis 34 to the pivot axis 8 for the upper arm 4. The axis ofrotation for each of the holders 11 and 11 at the axes 34 and 8, lie ina plane containing the longitudinal axis of the swing arm 3. In likewisefashion, the rotation axes of holder 11 and 11 at axes 8 and 35 for theupper arm 4, lie in a plane which also contains the longitudinal axis ofthe upper arm 4.

In the following, the effect of this arrangement of holders is shortlyexplained in an example:

If tool 39 is to be pivoted from its position shown in FIG. 1 verticallyupwardly, upper arm 4 is pivoted relative to swing arm 3 above axis 8.Loops 12 follow this pivotal motion along upper arm 4 and wrist 5. Thelength of loops 12 does not vary during this motion, only holders 11turn a little along thus preventing line 1 to 10 from being squeezed,and instead, permitting it to come into a bent position alongmanipulator assemblies 2 to 6 in which it is favorably loaded.

Loops 12 make further possible that, for example, wrist 5 can turn aboutaxis 9, and line bundle 10 is capable of following this rotary movement.It is further favorable if holders 11 are provided as close as possibleto axes 7, 9 and 36, since the pivotal travel of the holders about theseaxes is thereby reduced and, consequently, loops 12 may be shorter. Topivot 6, the line bundle 10 is led from the outside also in a looppermitting rotary motion.

According to the embodiment of FIG. 2, a single holder 11 for linebundle 10 comprises a tubular casing 13 including a fixed part 14 and amovable part 15, which parts are separated from each other by a partingjoint 16. Either of these parts 14, 15 has flaring end portions 17 andis provided with a mounting groove 18 in which an insert 19 can beclamped. The various shapes of this insert may be learned from FIGS. 3,4 and 6 to 13. The critical feature primarily illustrated by FIG. 2 isthat an insert 19 can be exchangeably clamped in tubular casing 13.Inserts 19 may vary in the number or diameter of the bores. In the shownexample, the fixed part 14 of tubular casing 13 has an extension 20firmly connected thereto. Everyone of extensions 20 is rotatablyconnected, through a flange 21 and a bearing 31, preferably a simpleballbearing, to one of the assemblies 2 to 6 shown in FIG. 1.

The purpose of insert 19 is to receive the individual lines of linebundle 10 in locally constant position and mutually parallel extensions,thereby also centering the bundle 10 to a certain degree. Since acertain mobility of the line bundle 10 must be curved in view of therelative mobility of assemblies 2 to 6, the tubular casing is providedwith flaring end portions 17 on both sides, as shown in FIG. 2,permitting bundle 10 to smoothly apply thereto in bent position andavoid squeezing (see also FIG. 1).

Insert 19 which is clamped in tubular casing 13 crosswise of thelongitudinal axis thereof and shown in FIGS. 3,4,6,7,8 and 13, isprovided with bores, recesses, etc. 22 which are located primarily atthe periphery. The front edges of the bores are chamfered 23 (see FIG.4). Bores 22 are to receive the individual lines of bundle 10 in acentered manner.

In the embodiment of FIG. 3, bores 22 are arranged peripherally.Therefore, a radial access 24 must be ensured, to be able to insert theindividual lines into bores 22 from the outside. Depending on theirpurpose, the lines are not equally thick, so that bores 22 too must haveunequal diameters. The number and thickness of the needed supply linesmay vary from tool to tool. Their position within the bundle also mayvary, depending on where the individual lines are connected to the tool.

To keep the individual lines firmly in their position in insert 19,bores 22 have their entrances 24 narrowed. Since the lines are mostlycoated with an elastic material, this establishes a clip connectionpreventing the lines from slipping out unintentionally. As may belearned from FIGS. 2 and 4, insert 19 is provided with acircumferentially extending extension in the form of a step 46positively fitting the mounting groove 18 of casing 13.

The line packing density obtainable with insert 19 shown in FIG. 3 islimited, even though an additional supply line can be provided runningthrough the center bore and being put in place by threading insert 19thereon.

The embodiments of FIGS. 6 to 8 permit a higher packing density withoutunfavorably effecting the possibility of connecting the supply lines tothe insert quickly (=peripheral bores). According to FIG. 6, thedisc-shaped insert 19 comprises two parts 32,33 which, in assembledstate, fit each other along a parting line 38. In separated state,parting line 38 forms on either of the parts 32,33 a new peripheral zonein which further bores 22 are provided. Upon clipping the lines in,insert part 32,33 are assembled with each other. To form a discpositively held in assembled state, a circlip 37, etc. is providedembracing the assembly from the outside. Sirclip 37 may be received in acircumferential groove. Along parting lines 38, bores 22 in theindividual parts 32,33 may be provided in positions opposite each other.

FIG. 7 shows another modification of the disc-shaped insert 19 which, inthis embodiment, comprises a total of three parts. Insert part 32 isdivided in two and these two sectional parts surround and positivelyengage another, centrally disposed part 33. In this embodiment, theparting line 38 is formed by the circumference of insert part 33. Insertpart 33 is provided on its circumference with bores 22. In amodification of this embodiment, insert parts 32 may be provided withbores 22 even in the zone of parting line 38. Similarly to theembodiment of FIG. 6, insert parts 32,33 may be held in assembled stateby means of a circlip or another circumferential tensioning element. Itis also possible, however, to hold insert part 32 together by a clipconnection along their parting line.

FIG. 8 shows circlip 37 received in a circumferential groove, and apositive connection 41 between parts 32,33.

FIG. 13 shows a modified embodiment of FIG. 6. In this design, again,disc-shaped insert 19 is provided with a bore 22 inside which is notreadily accessible from the circumference of the disc. In thisembodiment, disc-shaped insert 19 is made of a resilient material,preferably a plastic, and has two parting slits 47 which extend from thedisc periphery inwardly, and to which the inside bores 22 arecontiguous. Along these parting slits 47, the disc-shaped insert 19 canbe bent open whereby the bores 22 inside become accessible for clippingin lines. Due to the resilience of the material, parting slit 47 closesagain automatically. Further, disc-shaped insert 19 is held in assembledstate by the circumferentially effective mounting groove 18.

The guidance of supply lines 10 in a plurality of holders 11 (seeFIG. 1) makes sense only if, in connection with a change of the tooland/or of the line bundle, the line 10 can be removed from holders 11quickly. In this respect, the invention provides a multi-part design oftubular casing 13, with the individual parts 14,15 being connected toeach other by a quick-action clamp 25 and a commercial type of a hinge53 (see FIG. 5). This quick-action clamp 25 may be embodied by aconventional tommy bar. With casing 13 open, line bundle 10 can beremoved along with the specific inserts 19 thereof and exchanged foranother line bundle already carrying new specific inserts clippedthereon. The clipping connection makes it possible to leave therespective inserts attached to their line bundle.

Holder 11 may be provided on one or more of the manipulator assemblies 2to 6, it being advisable, however, to associate with each of theassemblies only one holder. Aside from being secured to the assemblydirectly, the invention also provides, in accordance with the showingsof FIGS. 1 and 5, a holder 11 embodied as a resilient arm 27. Arm 27 issecured to the assembly, in the present example to upper arm 4, andintended to hold the loop 12 at distance and let it follow during arotation of wrist 5 about axis 9.

In the embodiment of FIG. 5, holder 11 is rotatably connected to aflange 21 of a resilient arm 27 through a bearing 31 which is shown inmore detail in FIG. 2. Due to this design, holder 11 again can adjust toa position to permit the loop 12 or the line bundle 10 to extend in anideal bending line in terms of a most favorable load. Arm 27 is formedin this embodiment by two helical springs 28, 29 which are connected toa clamping collar 30 embracing upper arm 4 or another of assemblies ofthe manipulator. The two interengaging helical springs 28,29 ensure astable, yet yielding guidance of holder 11 and thus of line bundle 10.Holder 11 remains rotatable relative to clamping collar 30, about theaxis of arm 27. The outer helical spring 29 is screwed ontocorresponding threads provided on extensions 40 of clamping collar 30and flange 26. Extensions 40 are hollow and guide on their inside innerspring 28 which is held in position in the lengthwise direction byscrews engaged therein.

To adjust the resilience of arm 27 to that of the respective bundlelines, an embodiment without spring 28 of arm 27 is also provided. Itwill be understood that without departing from the scope of theinvention, holder 11 may be connected to the corresponding assemblies ofa manipulator in a relatively movable manner in still other ways.

FIG. 9 is a longitudinal sectional view of a holder 11 with anotherinsert 42. Insert 42 is designed as tubular body 43 embracing a linebundle 10 or hose bundle 48 such as employed preferably for are weldingtools. The bundle 48 of flexible tubes is held together by a hose. Inview of the sensitivity of the bundle to squeezing, tubular body 43 isdesigned as an elongated guide which protrudes on both ends beyondcasing 13 of holder 11. Tubular body 43 is made of a resilient material,such as a plastic or rubber, and is tapered from the thicker center toboth ends. Under a load, tubular body 43 bends to a slight arcprotecting the sensitive hose bundler 48. At the center, tubular 43 isprovided with a circumferential stepped extension 46 through which it ispositively guided in mounting groove 18 of casing 13 in the linedirection.

The stepped extension 46 of the various inserts may be guided inmounting groove 18 in the circumferential direction non-positively i.e.frictionally so as to guide the insert, which is clamped in casing 13,firmly in all directions. It is also possible, however, to guide theinsert in casing 13 in the circumferential direction loosely, to permitthe insert with the line bundle to turn relative to casing 13 about thelongitudinal axis of the lines. For this purpose, stepped extension 46is guided in mounting groove 18 in the circumferential direction withplay. In an alternative, a special bearing may be provided betweenextension 46 and groove 18, for example, in the form of slip rings. Insuch a case, it is assumed that, in accordance with the shownembodiments, stepped extension 46 and mounting groove 18 have circularcross-sections. Otherwise, however, casing 13, groove 18, the variousinserts 19, 42,49, as well as extension 46 may have cross-sections ofany other shape.

According to FIG. 10, tubular body 43 is split lengthwise by a partingslit 47 and, due to its resilience, can be opened, to change the hosebundle 48. Tubular body 43 may even be split at several locations andprovided with hinges. In operation, tubular body 43 is held in assembledstate by clamping strings, rings, etc. 45, which are inserted incircular grooves 44 provided in the end portions.

FIGS. 11 and 12 show another design of tubular insert 49, modified ascompared to that of FIGS. 9 and 10. Insert 59 comprises a disc-shapedextension 51 and two adjoining guide sleeves 52. Disc-shaped extension51 is positively guided in mounting groove 18 of casing 13 through ashoulder 46. Sleeves 52 are connected to disc-shaped extension 51.Insert 49 may be made in a single piece (right-hand part of FIG. 11) orin several parts. With a multipart design, guide sleeves 52 are heldassembled with extension 51 through a positive connection 54 (shown inthe left-hand part of FIG. 11). As shown in FIG. 11, guide sleeves 52are designed as a part having a centrally located annular groove.Disc-shaped extension 51 is designed as insert part 32 of FIG. 7 andhalf or fully parted. Sleeve body 52 is thus inserted or clipped by itsgroove into the central bore of disc-shaped extension 51. However, theguide sleeves 52 may also be connected to disc-shaped extension 51positively, as individual parts.

Centrally guided in insert 49 is a line bundle 10 or hose bundle 48.Disc-shaped extension 41 is provided in addition on its circumferencewith bores 22 which are accessible from the outside and designed as clipholders for receiving additional lines 10. These lines 10, coming from asupply unit, for example, are initially run freely and then introducedinto the hose bundle 48.

Guide sleeves 52 are provided in a manner known per se withalternatively located and angularly staggered recesses 50, to improvethe resilience. Insofar, the purpose of guide sleeves 52 is the same asthat of tubular body 43.

To be able to introduce a hose bundle 48, insert 49 is provided with alengthwise extending parting slit 47. In the shown embodiment of FIG.12, insert 49 is in a single piece and made of a resilient material.Parting slit 47 is provided unilaterally and extends only up to thecenter of insert 49 to permit the insert to be elastically bent open. Asan alternative, insert 49 may be split entirely, as in the embodiment ofFIGS. 9 and 10. With a multipart design of insert 49, possibilities areobtained of a design corresponding to the disc-shaped extension 51 ofthe embodiments of FIGS. 6-8. Guide sleeves 52 are held together atparting slit 47 in a way similar to that of FIG. 11, by tensioningstrings 45. In an alternative, the sleeves may even be bonded togetherby an adhesive.

We claim:
 1. A manipulator system comprising:a base (2); a pivot member(6) on said base; a swing arm (3) pivotally connected to said pivotmember at one end thereof for rotation about a first pivot axis (34) tosaid pivot member (6), said swing arm having an opposite end and alongitudinal axis between its one and opposite ends extendingperpendicularly to said first pivot axis; an upper arm (4) having oneend pivotally connected to said swing arm at a second pivot axis (8),said upper arm having an opposite end, and a longitudinal axis extendingbetween its one and opposite ends and extending perpendicularly to saidsecond pivot axis; a wrist (5) pivotally connected to said opposite endof said upper arm; a tool (39) connected to said wrist; a supply line(10) comprising a bundle of individual lines extending from said basealong said swing arm and said upper arm and being connected to saidtool;a first holder having a tubular portion receiving said supply linerotatably mounted to said swing arm for rotation about said first pivotaxis; a second holder having a tubular portion receiving said supplyline and pivotally mounted to said upper arm for rotation about saidsecond pivot axis; said pivot axes of said first and second holderslying in a common plane with said longitudinal axis of said swing armand being positioned at a lateral side of said swing arm; and a thirdholder having a tubular portion rotatably mounted to said upper arm atsaid opposite end of said upper arm and with a rotation axis which, withsaid pivot axis of said second holder, lie in a common plane with saidlongitudinal axis of said upper arm, said second and third holders beingdisposed on one lateral side of said upper arm.
 2. A system according toclaim 1, wherein said wrist is pivotably connected to said opposite endof said upper arm at a third pivot axis (35) said rotation axis of saidthird holder being coaxial with said third pivot axis.
 3. A systemaccording to claim 2, wherein each of said tubular portions comprises atleast a two-part tubular casing having a passage therethrough for thepassage of said supply line and an insert in said passage having meansfor holding and guiding said individual lines.
 4. A system according toclaim 3, wherein said tubular casing includes an interior mountinggroove, said insert being held in place by said groove.
 5. A systemaccording to claim 4, wherein said insert has a step-shaped protrudingportion extending around its circumference and conformable to the saidmounting groove.
 6. A system according to claim 3, wherein said tubularcasing comprises two parts which are hinged together and a quick actionclamp connected between said tubular parts.
 7. A system according toclaim 3, wherein said both ends of said tubular casing have a flaringend portion.
 8. A system according to claim 2, wherein said tubularportions each having a groove therein with an insert in said groovehaving a plurality of bores of varying diameters capable of carryingspecific ones of said individual lines
 9. A system according to claim 8,wherein each tubular portion comprises a split tubular body, said supplyline extending through said tubular body.
 10. A system according toclaim 2, wherein each tubular portion comprises a tubular body made of aresilient material having a parting joint along its length and having acircular groove at each end for receiving a tightening string.
 11. Asystem according to claim 2, wherein each tubular portion having aninsert therein comprising a circular disk made of at least one parthaving a plurality of bores therethrough for the passage of individuallines of said supply line.
 12. A system according to claim 11, whereinsaid bores have access openings which are smaller in diameter than theremaining portion thereof.
 13. A system according to claim 2, whereinsaid tubular portions define a passage for said supply line having aninsert therein, said insert having a split portion extendinglongitudinally along its length and permitting expansion of saidportions thereof and a circles extending around said insert.
 14. Asystem according to claim 2, including an insert in each tubular portionhaving bores for the passage of the individual lines, wherein saidinsert is made of a resilient material and has at least one partingjoint, a plurality of bores adjacent thereto and extending in theinterior of said insert, said insert being capable of being bent openalong the parting joint to make the bores easily accessible from theoutside.
 15. A system according to claim 14, wherein said insert is madeof a disk-shaped extension and including two guide sleeves, saidindividual lines being guided in said insert and said sleeves with atleast one peripherally accessible bore being provided in said insert forguiding additional lines.
 16. A system according to claim 14, whereinsaid insert is made of one piece of resilient material and has alengthwise extension parting joint along which it can be opened.
 17. Asystem according to claim 2, including a flexible arm (27) having ahelical spring (29) extending therealong, said flexible arm having oneend connected to said upper arm (4) and an opposite end, and a furtherholder having a tubular portion connected to said opposite end of saidflexible arm.